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allwpilib/CMakeLists.txt
Thad House a9ac5b8e24 Don't read protobuf static data across shared library lines directly (#6979) 
Reading exported data from shared objects on windows is broken. It requires __declspec(dllimport). However, this is problematic, as we use the same static libraries both from a shared and static context. So we can't just blindly apply dllimport.

The linker should have caught this, as data members are exported in a different way. However, due to a bug in native-utils, data member symbols were exposed directly. However, interacting with those data member was completely broken.

The only way we can really solve this is to just not use static data members. We're pretty good about this in WPILib itself. However, protobuf is absolutely terrible at this. There are a ton of inline functions that access global data. For the protobuf library itself, we can solve this easily enough.

However, for the generated protobuf code, this is much more problematic. The member needed to bypass the global data is private. This means using just the stock protobuf code, this problem is not solvable. But, protobuf generated code has insertion points. Those insertion points let us add our own code into the generated code via a protoc plugin. And it just so happens that an insertion point exists to add extra public methodsto the generated protobuf header. There is also an insertion point to let us add to the cpp file.

The methods we need are the getters, for unpacking protobufs. For any protobuf that has a message as a member, we generate a new wpi_x() getter (the existing one is just x(), where x is the field name). We then implement this in the cpp file. A trick we can use is in the cpp file, we can safely call the x() function, as the cpp file is in the same library as the global. Thus we can call that inline method, and not actually need to directly access any internal private state of the protobuf object.

TL;DR, all protobuf classes that have messages as fields now have a wpi_x() accessor that must be used instead of x() if you want the code to work on windows. After wpilibsuite/native-utils#212, the bad code will fail to link, rather then just fail at runtime.
2024-08-21 07:53:20 -07:00

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CMake
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# Disable in-source builds to prevent source tree corruption.
if(" ${CMAKE_CURRENT_SOURCE_DIR}" STREQUAL " ${CMAKE_CURRENT_BINARY_DIR}")
message(
FATAL_ERROR
"
FATAL: In-source builds are not allowed.
You should create a separate directory for build files.
"
)
endif()
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
if("${CMAKE_HOST_SYSTEM_NAME}" STREQUAL "Windows")
set(CMAKE_SYSTEM_VERSION 10.0.18362.0 CACHE STRING INTERNAL FORCE)
set(CMAKE_VS_WINDOWS_TARGET_PLATFORM_VERSION 10.0.18362.0 CACHE STRING INTERNAL FORCE)
message(STATUS "Platform version: ${CMAKE_VS_WINDOWS_TARGET_PLATFORM_VERSION}")
endif()
cmake_minimum_required(VERSION 3.21)
project(allwpilib)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules")
# Make timestamps of extracted files from FetchContent the time of extraction
if(POLICY CMP0135)
cmake_policy(SET CMP0135 NEW)
endif()
set(WPILIB_BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR})
include(CMakeDependentOption)
include(CPack)
include(OptionValidation)
set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS TRUE)
set(CMAKE_POSITION_INDEPENDENT_CODE TRUE)
if(MSVC)
add_compile_options(/Zc:__cplusplus)
endif()
set_property(GLOBAL PROPERTY USE_FOLDERS ON)
set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${WPILIB_BINARY_DIR}/lib)
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${WPILIB_BINARY_DIR}/lib)
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${WPILIB_BINARY_DIR}/bin)
# use, i.e. don't skip the full RPATH for the build tree
set(CMAKE_SKIP_BUILD_RPATH FALSE)
# when building, don't use the install RPATH already
# (but later on when installing)
set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
# add the automatically determined parts of the RPATH
# which point to directories outside the build tree to the install RPATH
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
# Options for building certain parts of the repo. Everything is built by default.
option(BUILD_SHARED_LIBS "Build with shared libs (needed for JNI)" ON)
option(WITH_JAVA "Include Java and JNI in the build" OFF)
option(WITH_JAVA_SOURCE "Build Java source jars" ${WITH_JAVA})
option(WITH_CSCORE "Build cscore (needs OpenCV)" ON)
option(WITH_NTCORE "Build ntcore" ON)
option(WITH_WPIMATH "Build wpimath" ON)
cmake_dependent_option(
WITH_WPIUNITS
"Build wpiunits"
ON
WITH_JAVA
OFF
)
option(WITH_WPILIB "Build hal, wpilibc/j, and developerRobot (needs OpenCV)" ON)
option(WITH_EXAMPLES "Build examples" OFF)
option(WITH_TESTS "Build unit tests (requires internet connection)" ON)
option(WITH_GUI "Build GUI items" ON)
option(WITH_SIMULATION_MODULES "Build simulation modules" ON)
# Options for using a package manager (e.g., vcpkg) for certain dependencies.
option(USE_SYSTEM_FMTLIB "Use system fmtlib" OFF)
option(USE_SYSTEM_LIBUV "Use system libuv" OFF)
option(USE_SYSTEM_EIGEN "Use system eigen" OFF)
# Options for location of OpenCV Java.
set(OPENCV_JAVA_INSTALL_DIR "" CACHE PATH "Location to search for the OpenCV jar file")
# Options for compilation flags.
option(NO_WERROR "Disable -Werror flag during compilation" OFF)
# Set default build type to release with debug info (i.e. release mode optimizations
# are performed, but debug info still exists).
if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE "RelWithDebInfo" CACHE STRING "" FORCE)
endif()
if(NOT WITH_JAVA OR NOT WITH_CSCORE)
if(NOT "${OPENCV_JAVA_INSTALL_DIR}" STREQUAL "")
message(
WARNING
"
WARNING: OpenCV Java dir set but java is not enabled!
It will be ignored.
"
)
endif()
endif()
wpilib_config(OPTIONS WITH_JAVA REQUIRES BUILD_SHARED_LIBS)
wpilib_config(OPTIONS WITH_SIMULATION_MODULES REQUIRES BUILD_SHARED_LIBS WITH_WPILIB WITH_NTCORE)
wpilib_config(OPTIONS WITH_CSCORE REQUIRES WITH_NTCORE)
wpilib_config(OPTIONS WITH_GUI REQUIRES WITH_NTCORE WITH_WPIMATH)
wpilib_config(OPTIONS WITH_WPILIB REQUIRES WITH_NTCORE WITH_WPIMATH)
wpilib_config(OPTIONS WITH_WPIMATH WITH_JAVA REQUIRES WITH_WPIUNITS)
set(include_dest include)
set(java_lib_dest java)
if(WITH_JAVA OR WITH_JAVA_SOURCE)
set(CMAKE_JAVA_COMPILE_FLAGS "-encoding" "UTF8" "-Xlint:unchecked")
find_package(Java REQUIRED COMPONENTS Development)
find_package(JNI REQUIRED COMPONENTS JVM)
else()
# Protoc requires the java runtime
find_package(Java REQUIRED COMPONENTS Runtime)
endif()
find_package(LIBSSH 0.7.1)
set(CMAKE_FIND_PACKAGE_PREFER_CONFIG ON)
set(protobuf_MODULE_COMPATIBLE ON CACHE BOOL "" FORCE)
find_package(Protobuf REQUIRED)
find_program(PROTOC_COMPILER protoc REQUIRED)
set(CMAKE_FIND_PACKAGE_PREFER_CONFIG OFF)
get_property(isMultiConfig GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG)
if(isMultiConfig)
if(NOT "Asan" IN_LIST CMAKE_CONFIGURATION_TYPES)
list(APPEND CMAKE_CONFIGURATION_TYPES Asan)
endif()
if(NOT "Tsan" IN_LIST CMAKE_CONFIGURATION_TYPES)
list(APPEND CMAKE_CONFIGURATION_TYPES Tsan)
endif()
if(NOT "Ubsan" IN_LIST CMAKE_CONFIGURATION_TYPES)
list(APPEND CMAKE_CONFIGURATION_TYPES Ubsan)
endif()
else()
set(allowedBuildTypes
Asan
Tsan
Ubsan
Debug
Release
RelWithDebInfo
MinSizeRel
)
set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "${allowedBuildTypes}")
if(CMAKE_BUILD_TYPE AND NOT CMAKE_BUILD_TYPE IN_LIST allowedBuildTypes)
message(FATAL_ERROR "Invalid build type: ${CMAKE_BUILD_TYPE}")
endif()
endif()
set(CMAKE_C_FLAGS_ASAN
"${CMAKE_C_FLAGS_DEBUG} -fsanitize=address -fno-omit-frame-pointer"
CACHE STRING
"Flags used by the C compiler for Asan build type or configuration."
FORCE
)
set(CMAKE_CXX_FLAGS_ASAN
"${CMAKE_CXX_FLAGS_DEBUG} -fsanitize=address -fno-omit-frame-pointer"
CACHE STRING
"Flags used by the C++ compiler for Asan build type or configuration."
FORCE
)
set(CMAKE_EXE_LINKER_FLAGS_ASAN
"${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=address"
CACHE STRING
"Linker flags to be used to create executables for Asan build type."
FORCE
)
set(CMAKE_SHARED_LINKER_FLAGS_ASAN
"${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=address"
CACHE STRING
"Linker flags to be used to create shared libraries for Asan build type."
FORCE
)
set(CMAKE_C_FLAGS_TSAN
"${CMAKE_C_FLAGS_DEBUG} -fsanitize=thread -fno-omit-frame-pointer"
CACHE STRING
"Flags used by the C compiler for Tsan build type or configuration."
FORCE
)
set(CMAKE_CXX_FLAGS_TSAN
"${CMAKE_CXX_FLAGS_DEBUG} -fsanitize=thread -fno-omit-frame-pointer"
CACHE STRING
"Flags used by the C++ compiler for Tsan build type or configuration."
FORCE
)
set(CMAKE_EXE_LINKER_FLAGS_TSAN
"${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=thread"
CACHE STRING
"Linker flags to be used to create executables for Tsan build type."
FORCE
)
set(CMAKE_SHARED_LINKER_FLAGS_TSAN
"${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=thread"
CACHE STRING
"Linker flags to be used to create shared libraries for Tsan build type."
FORCE
)
set(CMAKE_C_FLAGS_UBSAN
"${CMAKE_C_FLAGS_DEBUG} -fsanitize=undefined -fno-sanitize-recover=all -fno-omit-frame-pointer"
CACHE STRING
"Flags used by the C compiler for Ubsan build type or configuration."
FORCE
)
set(CMAKE_CXX_FLAGS_UBSAN
"${CMAKE_CXX_FLAGS_DEBUG} -fsanitize=undefined -fno-sanitize-recover=all -fno-omit-frame-pointer"
CACHE STRING
"Flags used by the C++ compiler for Ubsan build type or configuration."
FORCE
)
set(CMAKE_EXE_LINKER_FLAGS_UBSAN
"${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=undefined -fno-sanitize-recover=all"
CACHE STRING
"Linker flags to be used to create executables for Ubsan build type."
FORCE
)
set(CMAKE_SHARED_LINKER_FLAGS_UBSAN
"${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=undefined"
CACHE STRING
"Linker flags to be used to create shared libraries for Ubsan build type."
FORCE
)
if(WITH_TESTS)
enable_testing()
add_subdirectory(thirdparty/googletest)
include(GoogleTest)
endif()
if(USE_SYSTEM_LIBUV)
set(LIBUV_SYSTEM_REPLACE "find_dependency(libuv CONFIG)")
endif()
if(USE_SYSTEM_EIGEN)
set(EIGEN_SYSTEM_REPLACE "find_package(Eigen3 CONFIG)")
endif()
set(FILENAME_DEP_REPLACE "get_filename_component(SELF_DIR \"$\{CMAKE_CURRENT_LIST_FILE\}\" PATH)")
set(SELF_DIR "$\{SELF_DIR\}")
set(WPIUNITS_DEP_REPLACE_IMPL "find_dependency(wpiunits)")
set(WPIUTIL_DEP_REPLACE "find_dependency(wpiutil)")
add_subdirectory(wpiutil)
if(WITH_NTCORE)
set(NTCORE_DEP_REPLACE "find_dependency(ntcore)")
set(WPINET_DEP_REPLACE "find_dependency(wpinet)")
add_subdirectory(wpinet)
add_subdirectory(ntcore)
endif()
add_subdirectory(protoplugin)
if(WITH_WPIMATH)
if(WITH_JAVA)
set(WPIUNITS_DEP_REPLACE ${WPIUNITS_DEP_REPLACE_IMPL})
add_subdirectory(wpiunits)
endif()
set(WPIMATH_DEP_REPLACE "find_dependency(wpimath)")
add_subdirectory(wpimath)
endif()
if(WITH_WPIUNITS AND NOT WITH_WPIMATH)
# In case of building wpiunits standalone
set(WPIUNITS_DEP_REPLACE ${WPIUNITS_DEP_REPLACE_IMPL})
add_subdirectory(wpiunits)
endif()
if(WITH_GUI)
add_subdirectory(fieldImages)
add_subdirectory(thirdparty/imgui_suite)
add_subdirectory(wpigui)
add_subdirectory(glass)
add_subdirectory(outlineviewer)
add_subdirectory(sysid)
if(LIBSSH_FOUND)
add_subdirectory(roborioteamnumbersetter)
add_subdirectory(datalogtool)
endif()
endif()
if(WITH_WPILIB OR WITH_SIMULATION_MODULES)
set(HAL_DEP_REPLACE "find_dependency(hal)")
add_subdirectory(hal)
endif()
if(WITH_CSCORE)
set(CAMERASERVER_DEP_REPLACE "find_dependency(cameraserver)")
set(CSCORE_DEP_REPLACE "find_dependency(cscore)")
find_package(OpenCV REQUIRED)
add_subdirectory(cscore)
add_subdirectory(cameraserver)
endif()
if(WITH_WPILIB)
set(APRILTAG_DEP_REPLACE "find_dependency(apriltag)")
set(WPILIBC_DEP_REPLACE "find_dependency(wpilibc)")
set(WPILIBJ_DEP_REPLACE "find_dependency(wpilibj)")
set(WPILIBNEWCOMMANDS_DEP_REPLACE "find_dependency(wpilibNewCommands)")
add_subdirectory(apriltag)
add_subdirectory(wpilibj)
add_subdirectory(wpilibc)
add_subdirectory(wpilibNewCommands)
add_subdirectory(romiVendordep)
add_subdirectory(xrpVendordep)
if(WITH_EXAMPLES)
add_subdirectory(wpilibcExamples)
endif()
add_subdirectory(developerRobot)
endif()
if(WITH_SIMULATION_MODULES)
add_subdirectory(simulation)
endif()
configure_file(wpilib-config.cmake.in ${WPILIB_BINARY_DIR}/wpilib-config.cmake)
install(FILES ${WPILIB_BINARY_DIR}/wpilib-config.cmake DESTINATION share/wpilib)
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